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Rover: minor comment fix to set-position-target handling

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This commit is contained in:
Randy Mackay 2019-02-08 09:28:23 +09:00
parent 9707a7386c
commit d50a94aacf
1 changed files with 2 additions and 2 deletions
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4
APMrover2/GCS_Mavlink.cpp
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@ -938,13 +938,13 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// consume velocity and turn rate
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume velocity
// consume velocity and heading
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume just target heading (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
} else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume just turn rate(probably only skid steering vehicles can do this)
// consume just turn rate (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}
break;